Struct RawControlWord 

pub struct RawControlWord(pub u16);

Raw u16 newtype — this IS the PDO data, no conversion needed

Tuple Fields

0: u16

Trait Implementations

impl Cia402Control for RawControlWord

fn raw(&self) -> u16

Read the raw control word.

fn raw_mut(&mut self) -> &mut u16

Get a mutable reference to the raw control word.

fn set_switch_on(&mut self, v: bool)

Set bit 0 — Switch On.

fn set_enable_voltage(&mut self, v: bool)

Set bit 1 — Enable Voltage.

fn set_quick_stop(&mut self, v: bool)

Set bit 2 — Quick Stop.

fn set_enable_operation(&mut self, v: bool)

Set bit 3 — Enable Operation.

fn set_fault_reset(&mut self, v: bool)

Set bit 7 — Fault Reset.

fn cmd_shutdown(&mut self)

Shutdown command (transitions 2, 6, 8). Target state: Ready to Switch On.

fn cmd_switch_on(&mut self)

Switch On command (transition 3). Target state: Switched On.

fn cmd_enable_operation(&mut self)

Enable Operation command (transition 4, or combined 2+3+4). Target state: Operation Enabled.

fn cmd_disable_operation(&mut self)

Disable Operation command (transition 5). Target state: Switched On.

fn cmd_disable_voltage(&mut self)

Disable Voltage command (transitions 7, 9, 10, 12). Target state: Switch On Disabled.

fn cmd_quick_stop(&mut self)

Quick Stop command (transition 11). Target state: Quick Stop Active.

fn cmd_fault_reset(&mut self)

Fault Reset command (transition 15, rising edge on bit 7). Drive must be in Fault state. Transitions to Switch On Disabled.

fn cmd_clear_fault_reset(&mut self)

Clear the Fault Reset command (transition 15, rising edge on bit 7).

fn set_bit(&mut self, bit: u8, v: bool)

Set or clear a single bit in the control word.

impl Clone for RawControlWord

fn clone(&self) -> RawControlWord

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for RawControlWord

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for RawControlWord

fn default() -> RawControlWord

Returns the “default value” for a type.

impl HomingControl for RawControlWord

fn set_homing_start(&mut self, v: bool)

Bit 4 — Homing Operation Start: rising edge starts homing.

fn set_halt(&mut self, v: bool)

Bit 8 — Halt: interrupt homing and decelerate.

impl PpControl for RawControlWord

fn set_new_set_point(&mut self, v: bool)

Bit 4 — New Set-Point: rising edge starts a new positioning move.

fn set_change_set_immediately(&mut self, v: bool)

Bit 5 — Change Set Immediately: if true, interrupt current move.

fn set_relative(&mut self, v: bool)

Bit 6 — Relative: target position is relative to current.

fn set_halt(&mut self, v: bool)

Bit 8 — Halt: decelerate to stop.

impl PvControl for RawControlWord

fn set_halt(&mut self, v: bool)

Bit 8 — Halt: decelerate to zero velocity.

impl Copy for RawControlWord